Few-shot learning (FSL) is an effective approach to address the issue of limited labeled data in hyperspectral image classification (HSIC). However, it overlooks the domain shift between the source domain (SD) and the target domain (TD) in cross-domain tasks. Most existing domain adaptation (DA) methods alleviate the domain shift problem to some extent, but DA methods based on traditional convolutional operators overlook the nonlocal spatial relationships in HSI, while methods based on graph neural networks (GNNs), although effective in leveraging nonlocal spatial information for domain alignment, overly emphasize global relationships, which is disadvantageous for pixel-level classification in HSI. To solve these issues, this article proposes a novel globalp-local graph attention network-based cross-domain FSL (GLGAT-CFSL), which comprehensively reduces domain shift through global-to-local domain alignment. It has the following advantages: 1) an innovative dynamic triplet graph attention network is devised to identify nonlocal spatial relationships in HSI for global graph alignment (GGA) while also addressing common overfitting and oversmoothing issues in GNNs; 2) an ingenious local similarity learning (LSL) strategy is designed after global domain alignment, utilizing intradomain connectivity structures and interdomain node similarities for local DA, promoting cross-domain information propagation and more comprehensive reduction of domain shift; and 3) we propose a novel triaxial dynamic convolutional neural network (TDCNN) as the feature extractor, promoting cross-dimensional interaction between spectral and spatial dimensions, establishing a more generalizable and rich feature representation between the SD and the TD. The experimental results on three HSI datasets demonstrate the superiority and effectiveness of the proposed GLGAT-CFSL.

This article presents a control strategy to carry out multiobject manipulation on a novelsoft robotictable (SoTa), which is a new form of the planar distributed manipulator. Manipulating multiple delicate objects simultaneously is an attractive feature of SoTa. The challenge here is to coordinate multiple objects in a confined planar space while avoiding interference with each other. The SoTa system adopts a manipulation strategy that includes a planning and a tracking stage for the purpose of sorting objects. The planning stage consists of two phases: 1) discrete path planning to find a path for each object on a grid map with respect to time; 2) trajectory generation to optimize and produce workable trajectories for SoTa. In the discrete path planning phase, a hierarchical searching method based on the time-varying potential field is proposed. Constraints of the SoTa system are modeled and incorporated into the path searching process. In the trajectory generation phase, a piecewise B-spline method is adopted to generate trajectories based on previously found discrete paths. Next, in the tracking stage, the objects are led to their goals along the trajectories ensuring safety and SoTa's capability. The performances of the proposed algorithm were simulated, analyzed, and compared with the conflict-based search method, which is optimal for multiagent path finding. A multiobject manipulation experiment of three objects on a$4\times 4$grid was conducted on the SoTa. The results demonstrated the effectiveness of the proposed control strategy in executing multiobject manipulations for sorting tasks on the SoTa.

This article presents the design, development, and validation of a closed-loop control system for a soft robotic table. The soft table can provide independent manipulation to multiple objects simultaneously, which is an advantage over traditional devices such as robotic arms and belt conveyor systems. The table also provides intrinsic soft handling for delicate objects. In order to execute automation tasks, a vision feedback system and an operation controller are developed and incorporated into the existing table prototype to form a closed-loop control. The vision feedback system implements image processing techniques to identify the object location from captured images. The operation controller is integrated from three sets of algorithms, including movement planning, actuator selection, and actuation planning. Two sets of experiments were conducted to validate the closed-loop system and the capability of the soft table. The first set validated the manipulation task of transporting an object to a desired location with autonomous planning and execution. The second set validated the table's ability to manipulate multiple objects simultaneously and independently. Videos of both experiments have been supplied.

Soft robots must be able to structure an automation problem into a sequence of actions that lead to a desired state, before they can fulfill a meaningful role in automation applications. This, however, can only be successful if the robot can predict the outcome of an action. The theory of rigid industrial robots is not applicable without major changes, because kinematic chains do not adequately describe the continuous deformation of the complex, often biologically inspired shapes of soft robots. Analytic solutions have not been found yet. Numerical solutions based on finite elements are slow, technically challenging, and only suitable for one specific robot. It is, however, possible to observe the outcome of an action, and use these observations to plan a sequence of actions that let the robot accomplish an automation task. In this paper, we analyze a probabilistic automaton that computes the optimal sequence of actions to bring the robot into a desired state. An earlier article explained the functioning of the method in a toy example. In this paper, we analyze if it is feasible to apply the method to a planning problem inspired by a real soft robot. We show the results and document the planning process. We identify the analog of an impulse response, although it is not closed form due to the nonparametric nature of the method.